CN113044462B - Robot scheduling method, device, system, storage medium and program product - Google Patents

Abstract

The application provides a robot scheduling method, device, system, storage medium and program product. According to the method, after the first robot places the demand bin of the first order of the first operation table on the first operation table, the first robot is controlled to move to the second operation table, and the first robot is controlled to place the demand bin of the second order of the second operation table on the second operation table, so that the first robot can perform box placing operation across the operation tables in the process of executing a primary bin carrying task, and therefore as many bins as possible can be placed on the operation tables in the primary bin carrying task, the number of times of taking/returning the bins is reduced, a more flexible and efficient cargo taking and placing strategy is achieved, and the overall efficiency and performance of the intelligent warehousing system can be improved.

Description

Robot scheduling method, device, system, storage medium and program product

Technical Field

The present application relates to smart warehousing technologies, and in particular, to a method, an apparatus, a system, a storage medium, and a program product for robot scheduling.

Background

In the field of smart warehousing, it is becoming more and more common for robots to replace labor to carry goods. In a cargo-to-human system, the robot often needs to move the containers to a designated location (operator station) and return the containers to the racking area after the operation. For a robot capable of handling multiple containers at a time, a "pick and go" strategy is often adopted: after the containers needing to be placed back to the goods shelf area are placed at one time, the task of conveying the containers to the operation table is performed. Therefore, the robot can not be in a high-load state for carrying the cargo box to the operation table, the utilization rate of the robot is wasted, and the overall efficiency and performance of the intelligent warehousing system are affected.

Disclosure of Invention

The application provides a robot scheduling method, device, system, storage medium and program product.

In one aspect, the present application provides a method for robot scheduling, including:

after a first robot places a demand bin of a first order of a first operation table on the first operation table, controlling the first robot to move to a second operation table, and controlling the first robot to place a demand bin of a second order of the second operation table on the second operation table; wherein the demand bin of the second order is a bin that matches the order demand of the second order.

Optionally, after the first robot places the demand bin of the first order from the first station to the first station, before the controlling the first robot moves to the second station, the method further includes: and controlling the first robot to take the work-finished bin from the first operating platform.

Optionally, before the first robot places the demand bin of the first order of the first station to the first station, the method further includes: allocating a box taking task to the first robot, wherein the box taking task is used for instructing the first robot to take a demand box of a plurality of orders from a shelf, and the plurality of orders at least comprise the first order and the second order; and controlling the first robot to move to the first operation platform, and controlling the first robot to place the demand bin of the first order to the first operation platform.

Optionally, after the first robot places the demand bin of the first order from the first station to the first station, the controlling the first robot to move to the second station and to place the demand bin of the second order from the second station to the front of the second station further includes: determining a third order of a third operation table according to the articles of a first material box currently loaded by the first robot and the order requirement of each operation table, wherein the order requirement of the third order is matched with the articles of at least one first material box; and taking one order in the third orders as the second order.

Optionally, the taking one of the third orders as the second order includes: determining a third order meeting the real-time cross-console operation conditions according to the evaluation parameter information of the real-time cross-console operation of the third order; and taking one order in the third orders which meet the real-time cross-operating-platform operating conditions as the second order.

Optionally, the taking one of the third orders meeting the real-time cross-console operation condition as the second order includes: if the number of the third orders meeting the real-time cross-operating platform operating conditions is 1, taking the third orders meeting the real-time cross-operating platform operating conditions as the second orders; and if the number of the third orders meeting the real-time cross-operating platform operating conditions is larger than 1, selecting one order from the third orders meeting the real-time cross-operating platform operating conditions as the second order according to the evaluation parameter information for carrying out the real-time cross-operating platform operation on the third orders.

Optionally, the method further comprises: if the first bin currently loaded by the first robot does not meet the order requirement of the second order, determining a second bin according to the order requirement of the second order and the articles in the first bin, wherein the second bin and the first bin meet the order requirement of the second order; scheduling a second robot to remove the second bin from the rack; and controlling the second robot to move to the second operation platform, and controlling the second robot to place the second bin on the second operation platform.

Optionally, the taking one of the third orders as the second order according to the evaluation parameter information of the real-time cross-console operation performed on the third orders includes: and if the third order meeting the real-time cross-operating-platform operating conditions does not exist, taking one of the third orders as the second order according to the number of the first material boxes matched with the order requirements of the third orders.

Optionally, the controlling the first robot to move to a second console and the first robot to place a demand bin of a second order of the second console to the second console includes: controlling the first robot to return a first material box which is not matched with the order requirement of the second order; controlling the first robot to take out a third material box from the shelf, wherein the third material box is a requirement material box of the second order, so that the first material box and the third material box which are currently loaded by the first robot meet the requirement of the second order; and controlling the first robot to move to the second operation table, and controlling the first robot to place a first material box and a third material box matched with the second order on the second operation table.

Optionally, if there is no third order meeting the real-time cross-console operating condition, taking one of the third orders as the second order according to the number of the first bins matched with the order demand of the third order, including: if the third order meeting the real-time cross-operating platform operation condition does not exist, determining the number of first material boxes matched with the order requirement of the third order, and taking the third order, of which the number of the first material boxes matched with the order requirement is larger than a preset number threshold value, as a fourth order; determining a fourth order meeting the indirect cross-console operation condition according to the evaluation parameter information of the indirect cross-console operation on the fourth order; and taking one order in the fourth orders which meet the indirect cross-operating-platform operation condition as the second order.

Optionally, determining whether the target order meets the corresponding cross-console operation condition according to evaluation parameter information of a certain type of cross-console operation performed on any target order includes: determining whether the target order meets the corresponding cross-console operation condition or not according to the evaluation parameter information of the cross-console operation of the type of the target order and the threshold condition corresponding to each evaluation parameter information; the target order is any one of the third orders, the evaluation parameter information for performing certain type of cross-console operation on the target order is the evaluation parameter information for performing real-time cross-console operation on the target order, and the corresponding cross-console operation condition is a real-time cross-console operation condition; or, the target order is any one of the fourth orders, the evaluation parameter information for performing a certain type of cross-console operation on the target order is the evaluation parameter information for performing indirect cross-console operation on the target order, and the corresponding cross-console operation condition is an indirect cross-console operation condition.

Optionally, the determining, according to evaluation parameter information for performing the cross-console operation on the target order and a threshold condition corresponding to each evaluation parameter information, whether the target order meets a corresponding cross-console operation condition includes: and if each item of the evaluation parameter information of the target order meets the corresponding threshold value condition, determining that the target order meets the corresponding cross-operating platform operation condition.

Optionally, the determining, according to evaluation parameter information for performing the cross-console operation on the target order and a threshold condition corresponding to each evaluation parameter information, whether the target order meets a corresponding cross-console operation condition includes: and if at least one item of the evaluation parameter information of the target order meets the corresponding threshold value condition, determining that the target order meets the corresponding cross-operating platform operation condition.

Optionally, the determining, according to evaluation parameter information for performing the cross-console operation on the target order and a threshold condition corresponding to each evaluation parameter information, whether the target order meets a corresponding cross-console operation condition includes: and if at least one item of specific parameter information of the target order meets a corresponding threshold condition, determining that the target order meets a corresponding cross-operating-platform operating condition, wherein the specific parameter information is one or more items of pre-specified evaluation parameter information.

Optionally, determining whether the target order meets the corresponding cross-console operation condition according to evaluation parameter information of a certain type of cross-console operation performed on any target order includes: according to evaluation parameter information of the cross-console operation of the type of the target order, determining a score value corresponding to each evaluation parameter information of the target order; determining whether the target order meets the corresponding cross-operating platform operating conditions or not according to the score value corresponding to each item of evaluation parameter information of the target order; the target order is any one of the third orders, the evaluation parameter information for performing certain type of cross-console operation on the target order is the evaluation parameter information for performing real-time cross-console operation on the target order, and the corresponding cross-console operation condition is a real-time cross-console operation condition; or, the target order is any one of the fourth orders, the evaluation parameter information for performing a certain type of cross-console operation on the target order is the evaluation parameter information for performing indirect cross-console operation on the target order, and the corresponding cross-console operation condition is an indirect cross-console operation condition.

Optionally, the determining, according to a score value corresponding to each item of evaluation parameter information of the target order, whether the target order meets a corresponding cross-console operating condition includes: determining a comprehensive score value of the target order according to a score value corresponding to each item of evaluation parameter information of the target order; and determining whether the target order meets the corresponding cross-operating platform operating conditions or not according to the comprehensive score value of the target order.

Optionally, the determining, according to a score value corresponding to each item of evaluation parameter information of the target order, whether the target order meets a corresponding cross-console operating condition includes: if the evaluation parameter information of the target order comprises income parameter information, determining an income score value of the target order according to a score value corresponding to each income parameter information of the target order; if the evaluation parameter information of the target order comprises cost parameter information, determining a cost score value of the target order according to a score value corresponding to each item of cost parameter information of the target order; and determining whether the target order meets the corresponding cross-operating-platform operation condition or not according to the income score value and/or the cost score value of the target order.

Optionally, the evaluation parameter information for performing real-time cross-console work on any target order includes: revenue parameter information and/or cost parameter information. Wherein the revenue parameter information includes one or more of: the number of first bins of which the items are matched with the order requirements of the target order, the distance between the first operating platform and the target operating platform corresponding to the target order, the predicted waiting time of the first robot at the target operating platform and the emergency degree of the target order. The cost parameter information includes one or more of: waiting for idle time of the target console during movement of the first robot to the target console and completion of the job of the target order; the time it takes for the first robot to move from the first station to the target station, and the time the first robot waits in line at the target station.

Optionally, the evaluation parameter information of indirect cross-console operation on any target order includes: revenue parameter information and/or cost parameter information. Wherein the revenue parameter information includes one or more of: the number of first bins for which the items match the order requirements of the target order; the distance between a first shelf and the first operating platform of a first material box unmatched with the target order, the distance between a second shelf of the first shelf and a fourth material box and the distance between the second shelf and the target operating platform corresponding to the target order, wherein the items of the first material box do not meet the order requirement of the target order, and the items of the fourth material box and the first material box meet the order requirement of the target order; a projected wait time for the first robot at the target station; urgency of the target order. The cost parameter information comprises one or more of the following items: waiting for idle time of the target console during the first robot moving to the target console and completing the job of the target order; the time taken for the first robot to move from the first rack to the second rack and retrieve the fourth bin, the time taken for the first robot to move from the second rack to the destination console, and the time the first robot waits in line at the destination console.

Optionally, the second order is an order currently executed by the second console, or an order ranked after the currently executed order and not yet started to be executed.

Optionally, before the first robot places the demand bin of the first order of the first station to the first station, the method further includes: generating an operation platform crossing task for the first robot in an idle state according to order information of a plurality of operation platforms and real-time state information of all material boxes in a future period, wherein the operation platform crossing task comprises a plurality of to-be-processed orders and an initial box taking task, and the to-be-processed orders correspond to the operation platforms; and scheduling the first robot to take out an initial demand bin from a shelf according to the initial bin taking task, wherein the first order is a first order in the plurality of orders to be processed.

Optionally, after the controlling the first robot to remove the work-completed bin from the first operating platform, the method further includes: according to the cross-console task, sequentially determining a next order in the plurality of orders to be processed as a target order, and performing the following cross-console operation processing on the target order: scheduling the first robot to move to a target operation platform corresponding to the target order; controlling the first robot to place a demand bin of the target order on the target console; and controlling the first robot to take the work-finished bin from the target operation table.

Optionally, when the cross-console task is completed or at least one bin loaded by the first robot is empty, controlling the first robot to perform a bin returning operation.

In another aspect, the present application provides an apparatus for robot scheduling, including:

the cross-console operation module is used for controlling the first robot to move to a second console after the first robot places a requirement bin of a first order of the first console on the first console, and controlling the first robot to place a requirement bin of a second order of the second console on the second console; wherein the demand bin of the second order is a bin that matches the order demand of the second order.

In another aspect, the present application provides a warehouse management system, comprising:

a processor, a memory, and a computer program stored on the memory and executable on the processor; wherein the processor, when executing the computer program, implements the method of any of the above.

In another aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any of the above.

In another aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the method of any of the above.

According to the robot scheduling method, device, system, storage medium and program product, after the first robot places the requirement workbin of the first order of the first operation table on the first operation table, the first robot is controlled to move to the second operation table, the first robot is controlled to place the requirement workbin of the second order of the second operation table on the second operation table, the first robot can carry out box placing operation across the operation tables in the process of executing one-time workbin carrying task, so that as many workbins as possible can be placed on the operation tables in one-time workbin carrying task, the times of box taking/returning are reduced, a more flexible and efficient cargo taking and placing strategy is achieved, and the overall efficiency and performance of an intelligent warehousing system can be improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

Fig. 1 is a flowchart of a robot scheduling method according to an embodiment of the present disclosure;

fig. 2 is a flowchart of a robot scheduling method according to a second embodiment of the present disclosure;

fig. 3 is a flowchart of a robot scheduling method provided in the third embodiment of the present application;

fig. 4 is a flowchart of a robot scheduling method according to a fourth embodiment of the present disclosure;

fig. 5 is a flowchart of a robot scheduling method according to a fifth embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a robot scheduling apparatus according to a sixth embodiment of the present invention;

fig. 7 is a schematic structural diagram of a robot scheduling apparatus according to a seventh embodiment of the present invention;

fig. 8 is a schematic structural diagram of a warehouse management system according to an eighth embodiment of the present invention.

With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

The terms "first", "second", "third", etc. referred to in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any significant order to the indicated technical features. In the description of the following examples, "plurality" means two or more unless specifically limited otherwise.

The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

In the field of smart warehousing, it is becoming more and more common for robots to replace labor to carry goods. Within the cargo-to-human system, the robot often needs to move the containers to a designated location (console or workstation) and return the containers to the racking area after the operation. For a robot capable of handling multiple containers at a time, a "pick and go" strategy is often adopted: the containers to be returned to the racking area are first placed at one time and then transported to the work station. The flexibility of 'returning before taking' is not high, the efficiency is low, and the performance of the intelligent warehousing system cannot be fully exerted. The robot carries the cargo box to the work station, so that the robot is not in a high-load state, and the utilization rate of the robot is wasted.

The robot scheduling method provided by the application aims to solve the technical problems so as to improve the overall efficiency and performance of the intelligent warehousing system.

Fig. 1 is a flowchart of a robot scheduling method according to an embodiment of the present disclosure. The execution main body of the robot scheduling method is a warehousing management system in an intelligent warehousing system. As shown in fig. 1, the method comprises the following specific steps:

step S101, after the first robot places a requirement bin of a first order of the first operation table on the first operation table, controlling the first robot to move to the second operation table.

The first robot is any robot capable of executing a box fetching task corresponding to the operation table, and may be a bin robot or another type of robot, which is not limited herein.

The first console is any console, and the first order is any order on the first console. The second operating platform is different from the first operating platform.

In this embodiment, the first robot places the demand bin of the first order on the first console according to the bin taking task of the first order of the first console allocated to the first robot.

After the first robot places the required bin of the first order of the first operation table on the first operation table, that is, after the first robot completes the bin taking task of the first order of the first operation table, if the required bin of the second order of the second operation table exists in the bin currently loaded by the first robot, the warehousing management system does not temporarily instruct the first robot to execute the bin returning task, but controls the first robot to move to the second operation table according to the inventory in the bin currently loaded by the first robot, and performs cross-operation table operation.

S102, controlling the first robot to place a requirement material box of a second order of the second operation table on the second operation table; wherein the demand bin of the second order is a bin that matches the order demand of the second order.

After the first robot moves to the second operation table, the warehousing management system controls the first robot to place a required material box of a second order of the second operation table on the second operation table, so that the first robot can perform box placing operation across the operation tables in the process of executing a material box carrying task once, and therefore the operation tables can be placed with as many material boxes as possible in the material box carrying task once, more flexible and more efficient goods taking and placing strategies are achieved, and the overall efficiency and performance of the intelligent warehousing system can be improved.

According to the embodiment of the application, after the first robot places the requirement material box of the first order of the first operation table on the first operation table, the first robot is controlled to move to the second operation table, the first robot is controlled to place the requirement material box of the second order of the second operation table on the second operation table, box placing operation of crossing the operation tables can be carried out in the process that the first robot executes a material box carrying task, so that the operation tables can be placed with as many material boxes as possible in the material box carrying task, the times of taking/returning the boxes are reduced, a more flexible and efficient cargo taking and placing strategy is achieved, and the overall efficiency and performance of the intelligent warehousing system can be improved.

Fig. 2 is a flowchart of a robot scheduling method according to a second embodiment of the present application. On the basis of the first embodiment, this embodiment provides an example of a method flow for robot scheduling, and implements a basic flow of a work of a bin robot across an operation platform, as shown in fig. 2, the method includes the following specific steps:

step S201, the order is distributed to a plurality of operation stations.

The specific application scenarios of the embodiment are as follows: in order to improve the efficiency and timeliness of order processing, when a plurality of orders exist, the orders are distributed to the operation platforms instead of distributing all the orders to a single operation platform.

The specific implementation manner of allocating the order to the console may be implemented by any method strategy for allocating the order to the console in the prior art, and is not described herein again.

And step S202, determining an idle first robot.

In practical application, before allocating a box taking task corresponding to an order, an idle robot is selected to allocate the box taking task.

Step S203, a box taking task is distributed to the first robot, wherein the box taking task is used for instructing the first robot to take out a plurality of required material boxes of orders from the shelf, and the orders at least comprise a first order and a second order.

In this embodiment, the warehousing management system allocates a box taking task to the idle first robot according to the demand boxes of the multiple orders, and when the first robot executes the box taking task, the demand boxes of the multiple orders are taken out from the shelf.

The orders correspond to the operation stations, and the orders at least comprise a first order of the first operation station and a second order of the second operation station.

And S204, controlling the first robot to move to the first operation table, and controlling the first robot to place the requirement bin of the first order on the first operation table.

After the first robot takes the demand bins of the plurality of orders in the task from the goods shelf according to the bin taking task, the warehousing management system controls the first robot to move to the first operation platform and controls the first robot to place the demand bins of the first order to the first operation platform.

Step S205, after the first robot places the demand bin of the first order of the first operation table on the first operation table, controlling the first robot to move to the second operation table, and controlling the first robot to place the demand bin of the second order of the second operation table on the second operation table.

Wherein the demand bin of the second order is a bin that matches the order demand of the second order.

After the first robot places the demand bins of the first order for the first station to the first station, since the demand bin of the second order of the second operation table exists in the bin currently loaded by the first robot, the warehousing management system temporarily does not instruct the first robot to perform the bin returning task, but controls the first robot to move to the second operation table according to the bin currently loaded by the first robot, and controls the first robot to place a demand bin of a second order from the second station to the second station, so that the first robot takes the demand bins of orders on a plurality of operation platforms through taking the bins once and carries out the bin placing operation across the plurality of operation platforms, thereby can place a plurality of operation panels with as many workbins as possible in a workbin transport task, realize more nimble, more efficient get and put goods tactics, can improve intelligent storage system's overall efficiency and performance.

Optionally, after the first robot places the demand bin of the first order from the first station on the first station, the warehouse management system may further control the first robot to remove the bin that completed the job from the first station before controlling the first robot to move to the second station.

In an optional implementation manner of this embodiment, if the first bin currently loaded by the first robot does not satisfy the order requirement of the second order, the warehousing management system may determine, according to the order requirement of the second order and the articles in the first bin, that the second bin, the second bin and the first bin satisfy the order requirement of the second order; dispatching a second robot to take out a second bin from the shelf; the second robot is controlled to move to the second operation platform, the second robot is controlled to place the second material box on the second operation platform, the material box required by the second order can be conveyed to the second operation platform in time, the processing time of the second order is shortened, and the efficiency is improved. This process may be performed in parallel with step S205 to further improve the efficiency of processing the second order.

Furthermore, after the first robot places the requirement bin of the second order of the second operation table on the second operation table, the first robot can be controlled to move to the next operation table, and the first robot is controlled to place the requirement bin of the order of the next operation table on the next operation table; and so on until the first robot completes the box placing operation of the demand bins of all orders in the box taking task assigned in step S203.

According to the method and the device for acquiring the order, a box acquiring task is distributed to a first robot, the box acquiring task is used for indicating the first robot to acquire a demand box of a plurality of orders from a goods shelf, and the orders at least comprise a first order and a second order; the method comprises the steps of controlling a first robot to move to a first operation platform, controlling the first robot to place a requirement material box of a first order on the first operation platform, controlling the first robot to move to a second operation platform after the first robot places the requirement material box of the first order on the first operation platform, and controlling the first robot to place the requirement material box of the second order on the second operation platform, so that the first robot takes the requirement material boxes of orders on a plurality of operation platforms through once taking the boxes, and performs box placing operation across the plurality of operation platforms, so that the first robot places as many material boxes as possible on the plurality of operation platforms in one task, the box taking/returning times are reduced, a more flexible and efficient goods taking and placing strategy is realized, and the overall efficiency and performance of the intelligent warehousing system can be improved.

Fig. 3 is a flowchart of a robot scheduling method according to a third embodiment of the present application. On the basis of the first embodiment, the present embodiment provides another example of a method flow for robot scheduling, and a flow for a bin robot to perform real-time cross-console operation is implemented, as shown in fig. 3, the method specifically includes the following steps:

step S301, the orders are distributed to a plurality of operation platforms.

The implementation manner of this step is consistent with step S201, and is not described herein again.

And step S302, determining an idle first robot.

The implementation manner of this step is consistent with step S202, and is not described herein again.

Step S303, a box taking task of a first order of the first operation platform is distributed for the first robot.

In this embodiment, the warehouse management system allocates a box-taking task of a certain order (the first order of the first console) to the first robot. The bin picking task is to instruct the first robot to pick a demand bin of the first order from the rack.

The first operation platform is any operation platform, and the first order is any order on the first operation platform.

Optionally, in another embodiment of this embodiment, the warehouse management system may also be implemented in the manner of step S203, so that the first robot can continuously perform cross-console operation on more consoles after taking boxes once.

And S304, controlling the first robot to move to the first operation platform, and controlling the first robot to place the requirement bin of the first order on the first operation platform.

After the first robot takes the demand bins of the plurality of orders in the task from the goods shelf according to the bin taking task, the warehousing management system controls the first robot to move to the first operation platform and controls the first robot to place the demand bins of the first order to the first operation platform.

Step S305, determining a third order of a third operation table according to the articles of the first material box loaded by the first robot currently and the order requirement of each operation table, wherein the order requirement of the third order is matched with the articles of at least one first material box.

In this embodiment, after the first robot places the demand bin of the first order of the first station on the first station, the warehousing management system may match the next station and order for the first robot to perform cross-station operations in real time according to the inventory in the bin currently loaded by the first robot through steps S305-S306.

Optionally, after the first robot places the demand bin of the first order of the first station on the first station, before step S305, the warehousing management system may further control the first robot to remove the bin of completed jobs from the first station to increase the bins loaded by the first robot so that the first robot can continuously perform cross-station jobs for more stations.

In this step, the warehousing management system determines a third order with an order requirement matched with the article in the at least one first bin by analyzing whether the article in the bin loaded on the robot is matched with the order requirement of each operation station according to the article in the first bin currently loaded by the first robot and the order requirement of each operation station, where the operation station corresponding to the third order is the third operation station.

In the step, if the articles of the first material box loaded by the first robot are not matched with the order requirements of the orders of all the operation platforms, the operation of crossing the operation platforms is not executed, and the first robot is controlled to perform box returning operation.

And step S306, taking one order in the third orders as a second order.

After all third orders are determined, one order is selected from the third orders as the next order for the first robot to work across the stations, i.e. the second order.

In an alternative embodiment of this step, one of the third orders may be randomly selected as the second order.

In another optional implementation manner of this step, the following implementation manner may be specifically adopted:

determining a third order meeting the real-time cross-console operation conditions according to the evaluation parameter information of the real-time cross-console operation of the third order; and taking one order in the third orders which meet the real-time cross-operating-platform operating conditions as a second order.

In this embodiment, the evaluation parameter information for performing real-time cross-console operation on any target order includes: revenue parameter information and/or cost parameter information.

Wherein the revenue parameter information includes one or more of:

the number of first bins for which the items are matched with the order requirements of the target order, the distance between the first console and the target console corresponding to the target order, the expected waiting time of the first robot at the target console, and the urgency of the target order.

The cost parameter information includes one or more of:

waiting for idle time of the target console during the period that the first robot moves to the target console and completes the work of the target order; the time it takes for the first robot to move from the first station to the target station, and the time the first robot waits in line at the target station.

For ease of understanding, two items of cost parameter information are explained in turn: in a specific application scenario, the cost of the target order corresponding to the target console, which is caused by the real-time cross-console operation of the target order, is wasted: the method comprises the following steps that an operating robot of a target operation platform changes to a first robot crossing the operation platform, or the first robot crossing the operation platform is inserted into a queuing sequence, if the first robot crossing the operation platform does not reach the target operation platform, the robot with the priority behind the first robot enters into waiting, and idle time of the target operation platform in non-working can be caused; or, the target console switches the order of the job, and suspends/delays the original job order, which causes the robot whose order is suspended/delayed to suspend the job to wait for the first robot crossing the console and the corresponding target order to complete the job, and the target console does not work in the switching process; these are all seen as a waste of the time cost of the target console.

The robot waste cost caused by real-time cross-console operation of the target order is as follows: during the process of crossing from the first console to the target console, the first robot experiences the time for moving to the target console and queuing at the target console, which is used for performing the returning/reclaiming box task in the conventional operation, because the task actions need to be delayed or abandoned or arranged to other robots due to crossing the console, which is regarded as the waste of the time cost of the robots.

Further, based on the evaluation parameter information for performing the real-time cross-console operation on any target order, whether the target order meets the real-time cross-console operation condition or not is determined by taking each third order as the target order and according to the evaluation parameter information for performing the real-time cross-console operation on the target order, so that all third orders meeting the real-time cross-console operation condition can be determined.

According to the evaluation parameter information of a certain type of cross-console operation on any target order, whether the target order meets the corresponding cross-console operation condition is determined, and the method can be specifically realized by adopting any one of the following modes:

the first mode is as follows: and determining whether the target order meets the corresponding cross-console operation condition or not according to the evaluation parameter information of the cross-console operation of the type of the target order and the threshold condition corresponding to each evaluation parameter information.

The target order is any one of the third orders, the evaluation parameter information for performing certain type of cross-console operation on the target order is the evaluation parameter information for performing real-time cross-console operation on the target order, and the corresponding cross-console operation condition is a real-time cross-console operation condition.

In the first mode, a conditional evaluation mode is adopted, each evaluation parameter information has a corresponding threshold condition, and the following specific implementation modes can be included from tight to loose: all the conditions are met, part of the conditions are met, and the priority conditions are met.

Illustratively, the way all the conditions are met is: and if each item of evaluation parameter information of the target order meets the corresponding threshold value condition, determining that the target order meets the corresponding cross-operating platform operation condition.

Illustratively, the way in which the partial conditions are met is: and if at least one item of evaluation parameter information of the target order meets the corresponding threshold value condition, determining that the target order meets the corresponding cross-operating platform operation condition.

The priority condition refers to that when a certain specific condition satisfies a corresponding threshold condition, for example, the urgency of the second order of the second console is high urgency, and even if the profit is too low or the cost is too high under other conditions, the cross-console task is executed to complete the second order of the second console as priority.

Illustratively, the priority condition is satisfied in the following manner: and if at least one item of specific parameter information of the target order meets the corresponding threshold condition, determining that the target order meets the corresponding cross-operating-platform operating condition, wherein the specific parameter information is one or more of the pre-specified evaluation parameter information.

The second way is: according to the evaluation parameter information of the cross-console operation of the type of the target order, determining a score value corresponding to each evaluation parameter information of the target order; and determining whether the target order meets the corresponding cross-operating platform operation condition or not according to the score value corresponding to each item of evaluation parameter information of the target order.

The target order is any one of the third orders, the evaluation parameter information for performing certain type of cross-console operation on the target order is the evaluation parameter information for performing real-time cross-console operation on the target order, and the corresponding cross-console operation condition is a real-time cross-console operation condition.

In the second mode, a grading evaluation mode is adopted, corresponding score values are established according to the conditions of all conditions, and whether the target order meets the real-time cross-operating-platform operation conditions or not is determined according to whether the total score reaches a score threshold value or not.

Specifically, determining a comprehensive score value of the target order according to a score value corresponding to each item of evaluation parameter information of the target order; and determining whether the target order meets the corresponding cross-operating-platform operating conditions or not according to the comprehensive score value of the target order.

Illustratively, according to the score value corresponding to each item of evaluation parameter information of the target order, summing the score values corresponding to each item of evaluation parameter information to obtain a comprehensive score value of the target order; or, carrying out weighted summation on score values corresponding to various evaluation parameter information to obtain a comprehensive score value of the target order; alternatively, other ways of determining the composite score based on multiple scores of an object may be used, and is not limited in this respect.

Further, determining whether the target order meets the corresponding cross-console operation condition according to the comprehensive score value of the target order includes:

if the evaluation parameter information of the target order comprises income parameter information, determining an income score value of the target order according to a score value corresponding to each income parameter information of the target order; if the evaluation parameter information of the target order comprises cost parameter information, determining a cost score value of the target order according to a score value corresponding to each item of cost parameter information of the target order; and determining whether the target order meets the corresponding cross-operating platform operating conditions or not according to the income score value and/or the cost score value of the target order.

For example, a profit score value may be separately calculated for the profit parameter information, and whether the target order meets the real-time cross-console operation condition may be determined according to whether the profit score value reaches a profit threshold; if the income score value reaches an income threshold value, determining that the target order meets the real-time cross-operating platform operating conditions; and if the income score value does not reach the income threshold value, determining that the target order does not accord with the real-time cross-console operation condition.

For example, a cost score value can be separately calculated for the cost parameter information, and whether the target order meets the real-time cross-console operation condition is determined according to whether the cost score value is smaller than a cost threshold value; if the cost score value is smaller than the cost threshold value, determining that the target order meets the real-time cross-console operation condition; if the cost score value is greater than or equal to the cost threshold, the target order is determined to be not eligible for real-time cross-console operation.

Illustratively, respectively calculating an income score value and a cost score value, and if the income score value reaches an income threshold value and the cost score value is smaller than a cost threshold value, determining that the target order conforms to the real-time cross-console operation condition; and if the income score value does not reach the income threshold value or the cost score value is larger than or equal to the cost threshold value, determining that the target order does not accord with the real-time cross-console operation condition.

Illustratively, respectively calculating a profit score value and a cost score value, and determining whether the target order meets the real-time cross-console operation condition according to whether the profit score value is larger than the cost score value; if the income score value is larger than the cost score value, determining that the target order meets the real-time cross-operating platform operating conditions; and if the income score value is less than or equal to the cost score value, determining that the target order does not conform to the real-time cross-console operating conditions.

In addition, whether the target order meets the real-time cross-console operating condition or not can be determined according to whether the difference between the income score value and the cost score value is in the threshold range or not, and a specific strategy for determining whether the target order meets the real-time cross-console operating condition or not can be set and adjusted according to actual application scenes, and the embodiment is not limited specifically here.

Further, after the third order meeting the real-time cross-console operating condition is determined, if the number of the third orders meeting the real-time cross-console operating condition is 1, the third order meeting the real-time cross-console operating condition is taken as the second order.

And if the number of the third orders meeting the real-time cross-operating platform operating conditions is larger than 1, selecting one order from the third orders meeting the real-time cross-operating platform operating conditions as a second order according to the evaluation parameter information of the real-time cross-operating platform operation on the third orders.

If a plurality of third orders meeting the real-time cross-console operation conditions exist, one of the orders can be preferentially selected as the second order according to the evaluation parameter information of the real-time cross-console operation of the third orders.

Illustratively, based on the conditional evaluation, the order with the largest number of items satisfying the corresponding threshold condition in the evaluation parameter information can be selected as the second order; and setting priorities for each item of evaluation parameter information, sequentially screening third orders with evaluation parameters meeting corresponding threshold conditions according to each item of evaluation parameter from high to low in the priority order until the screening is finished to obtain at least one third order, and randomly selecting one of the screened orders as a second order.

For example, based on the scoring evaluation, the order with the highest value of the composite score may be selected, the order with the highest value of the income score may be selected, the order with the lowest value of the cost score may be selected, one order may be selected by combining the income score value and the cost score value, and the like, which is not specifically limited herein.

Optionally, if there is no third order meeting the real-time cross-console working condition, one of the third orders is used as the second order according to the number of the first material boxes matched with the order requirements of the third orders. For example, the third order with the largest number of first bins and matched order demands may be used as the second order, and if there are a plurality of third orders with the largest number of first bins and matched order demands, one of the third orders may be randomly selected as the second order.

And S307, controlling the first robot to move to the second operation table, and controlling the first robot to place a requirement bin of a second order of the second operation table on the second operation table.

After determining a second order of a second console for the first robot to work across the consoles, the warehousing management system controls the first robot to move to the second console and controls the first robot to place a demand bin of the second order of the second console to the second console.

Further, after the first robot places the demand bin of the second order of the second station on the second station, the method continues to execute steps S305-S307, determines the second order of the next second station according to the article of the first bin currently loaded by the first robot and the order demand of each station, controls the first robot to move to the next second station, and controls the first robot to place the demand bin of the second order of the next second station on the next second station; and repeating the steps until the first robot meets the cross-operating-platform operation termination condition.

The cross-console operation termination condition may be that at least one bin loaded by the first robot is empty, or a second order meeting the real-time cross-console operation condition does not exist, and the like, and the cross-console operation termination condition may be set and adjusted according to the needs of an actual application scenario, which is not specifically limited in this embodiment.

In an optional implementation manner of this embodiment, after determining the second order, the warehouse management system may further determine whether the first bin currently loaded by the first robot meets the order requirement of the second order. Wherein the first bin meeting the order requirements of the second order means that the items in the first bin can cover all of the items of the order requirements of the second order.

If the first material box loaded by the first robot currently does not meet the order requirement of the second order, determining a second material box according to the order requirement of the second order and the articles in the first material box, wherein the second material box and the first material box meet the order requirement of the second order; dispatching a second robot to take out a second bin from the shelf; the second robot is controlled to move to the second operation platform, the second robot is controlled to place the second material box on the second operation platform, the material box required by the second order can be conveyed to the second operation platform in time, the processing time of the second order is shortened, and the efficiency is improved. This process may be performed in parallel with step S307 to further improve the efficiency of processing the second order.

In this embodiment, the second order of the second station, in which the first robot performs the cross-station work, may be an order currently executed by the second station or an order that is ranked after the currently executed order and has not yet started to be executed.

According to the embodiment of the application, after the first robot places the requirement bin of the first order of the first operation platform on the first operation platform, the third order is matched for the first robot in real time according to the article of the first bin currently loaded by the first robot, whether the third order meets the real-time cross-operation platform operation condition is evaluated according to the evaluation parameter information of the real-time cross-operation platform operation on the third order, one second order of the second operation platform for the first robot to carry out cross-operation platform operation is selected from the third orders meeting the real-time cross-operation platform operation condition and is used as the second order of the second operation platform for the first robot to carry out cross-operation platform operation, the order of the next operation platform for the first robot to carry out cross-operation platform operation can be matched in real time based on the evaluation result of the profit and the cost of the cross-operation platform operation on the orders of each operation platform, and the efficiency and the performance of the cross-operation platform operation of the robot can be further improved, thereby further improving the overall efficiency and performance of the intelligent warehousing system.

Fig. 4 is a flowchart of a robot scheduling method according to a fourth embodiment of the present application. On the basis of the first embodiment or the third embodiment, the present embodiment provides another example of a method flow for robot scheduling, and realizes a flow for a bin robot to indirectly cross an operation table.

In an optional implementation manner of this embodiment, on the basis of the first embodiment, controlling the first robot to move to the second operation station, and controlling the first robot to place the demand bin of the second order from the second operation station to the second operation station may be implemented by: controlling the first robot to return the first material box which is not matched with the order requirement of the second order; controlling the first robot to take out a third material box from the goods shelf, wherein the third material box is a requirement material box of a second order, so that the first material box and the third material box loaded by the first robot currently meet the requirement of the second order; and controlling the first robot to move to the second operation table, and controlling the first robot to place the first material box and the third material box matched with the second order on the second operation table.

In another optional implementation manner of this embodiment, on the basis of the third embodiment, if there is no third order meeting the real-time cross-console operation condition, after one of the third orders is taken as the second order according to the number of the first bins matched with the order requirement of the third order, controlling the first robot to move to the second console, and controlling the first robot to place the requirement bin of the second order of the second console to the second console, the method includes: controlling the first robot to return the first material box which is not matched with the order requirement of the second order; controlling the first robot to take out a third material box from the goods shelf, wherein the third material box is a requirement material box of a second order, so that the first material box and the third material box loaded by the first robot currently meet the requirement of the second order; and controlling the first robot to move to the second operation table, and controlling the first robot to place the first material box and the third material box matched with the second order on the second operation table.

In this embodiment, if it is determined that there is no third order meeting the real-time cross-console operation condition according to the currently loaded first bin of the first robot, the warehousing scheduling system instructs the first robot to perform indirect cross-console operation.

Optionally, in order to improve the efficiency of the indirect cross-console operation of the first robot, whether each order meets the indirect cross-console operation condition may be re-evaluated based on the evaluation parameter information of the indirect cross-console operation performed on each order, and the next console and order for the indirect cross-console operation may be selected and re-selected preferentially.

The next operation platform for indirectly crossing the operation platform can be selected again, and the warehousing management system can change the tasks of returning, reserving, taking and going to the target operation platform of the material box when judging that a more appropriate target operation platform exists according to the first material box loaded by the first robot.

The order of the operation station for performing indirect cross-operation can be selected again, the first robot needs time for performing box returning/box taking operation, if the estimated time is not equal to the current execution order of each operation station, the order information after the current execution order (such as the next first order, the second order and the like) of the operation station can be estimated according to the box returning/box taking operation time, and if the first bin loaded by the robot can be matched, the first robot is indicated to execute the tasks of returning, reserving, taking and advancing the target operation station of the bin corresponding to the current execution order (such as the next first order, the second order and the like) of the target operation station.

In this embodiment, the second order of the second station, in which the first robot performs the cross-station work, may be an order currently executed by the second station or an order that is ranked after the currently executed order and has not yet started to be executed.

Specifically, if there is no third order meeting the real-time cross-console working condition, one of the third orders is taken as the second order according to the number of the first bins matched with the order demand of the third order, and the following method may be adopted:

if the third order meeting the real-time cross-operating platform operating conditions does not exist, determining the number of first material boxes matched with the order requirements of the third order, and taking the third order, of which the number is larger than a preset number threshold value, of the first material boxes matched with the order requirements as a fourth order; determining a fourth order meeting the indirect cross-console operation condition according to the evaluation parameter information of the indirect cross-console operation on the fourth order; and taking one order in the fourth orders which meet the indirect cross-operating-platform operation condition as a second order.

The preset number threshold may be set and adjusted according to the needs of the actual application scenario, and this embodiment is not specifically limited here.

Further, if the number of the fourth orders meeting the indirect cross-console working condition is 1, the fourth orders meeting the indirect cross-console working condition are taken as the second orders.

And if the quantity of the fourth orders meeting the indirect cross-operating platform operating conditions is larger than 1, selecting one order from the fourth orders meeting the indirect cross-operating platform operating conditions as a second order according to the evaluation parameter information of the indirect cross-operating platform operation on the fourth orders.

Optionally, if there are a plurality of fourth orders meeting the indirect cross-console operation condition, one of the orders may be preferentially selected as the second order according to the evaluation parameter information of the indirect cross-console operation performed on the fourth orders.

Illustratively, based on the conditional evaluation, the order with the largest number of items satisfying the corresponding threshold condition in the evaluation parameter information can be selected as the second order; and setting priorities for each item of evaluation parameter information, sequentially screening fourth orders with evaluation parameters meeting corresponding threshold conditions according to each item of evaluation parameter from high to low in the priority order until the screening is finished to obtain at least one fourth order, and randomly selecting one order from the screened orders as a second order.

For example, based on the scoring evaluation, the order with the highest value of the composite score may be selected, the order with the highest value of the income score may be selected, the order with the lowest value of the cost score may be selected, one order may be selected by combining the income score value and the cost score value, and the like, which is not specifically limited herein.

Optionally, if there is no fourth order meeting the indirect cross-console working condition, one of the third orders is taken as the second order according to the number of the first material boxes matched with the order requirement of the third order.

For example, the third order with the largest number of first bins and matched order demands may be used as the second order, and if there are a plurality of third orders with the largest number of first bins and matched order demands, one of the third orders may be randomly selected as the second order.

In this embodiment, the fourth orders meeting the indirect cross-console operation condition are determined according to the evaluation parameter information of the indirect cross-console operation performed on the fourth orders, and whether the target orders meet the indirect cross-console operation condition or not can be determined by using each fourth order as a target order according to the evaluation parameter information of the indirect cross-console operation performed on the target orders, so that all the fourth orders meeting the indirect cross-console operation condition can be determined.

Two implementation manners of determining whether a target order meets the corresponding cross-console operation condition according to the evaluation parameter information of a certain type of cross-console operation performed on any target order are similar to the implementation manner of "determining whether a target order meets the corresponding cross-console operation condition according to the evaluation parameter information of a certain type of cross-console operation performed on any target order" in step S306 of the second embodiment.

The evaluation parameter information of indirect cross-console operation on any target order comprises the following steps: revenue parameter information and/or cost parameter information.

The revenue parameter information for performing indirect cross-console work on any target order comprises one or more of the following:

the number of first bins for which the items match the order requirements of the target order; the distance between a first shelf and a first operating platform of a first material box unmatched with the target order, the distance between a second shelf of the first shelf and a fourth material box and the distance between the second shelf and the target operating platform corresponding to the target order, wherein the items of the first material box do not meet the order requirement of the target order, and the items of the fourth material box and the first material box meet the order requirement of the target order; a projected wait time for the first robot at the target console; urgency of the target order.

Cost parameter information for performing indirect cross-console work on any target order includes one or more of the following:

waiting for idle time of the target operation platform when the first robot moves to the target operation platform and finishes the operation of the target order; the time it takes for the first robot to move from the first rack to the second rack and retrieve the fourth bin, the time it takes for the first robot to move from the second rack to the destination console, and the time it takes for the first robot to wait in line at the destination console.

In summary, the step S205 in the first embodiment and the step S307 in the third embodiment control the first robot to move to the second console, and control the first robot to place the demand bin of the second order of the second console on the second console, which can be realized by the following steps (as shown in fig. 4):

and S401, controlling the first robot to return the first material box which is not matched with the order requirement of the second order.

In this embodiment, after the first robot places the demand bin of the first order of the first console on the first console, the first robot does not perform the bin returning operation, does not directly perform the real-time cross-console operation, but performs the indirect cross-console operation flow of steps S401 to S403.

When the indirect cross-console operation flow is executed, the first robot firstly executes box returning operation and returns a first material box which is not matched with the order requirement of the second order.

And S402, controlling the first robot to take out a third material box from the shelf, wherein the third material box is a requirement material box of the second order, so that the first material box and the third material box which are currently loaded by the first robot meet the requirement of the second order.

After returning the first bin which is not matched with the order requirement of the second order, in order to enable the first bin which is in charge of the first robot to meet the order requirement of the second order of the second operation platform, the warehousing management system dispatches and controls the first robot to take out a third bin (namely other requirement bins of the second order) from the goods shelf, so that the bin loaded by the first robot can meet the order requirement of the second order.

And S403, controlling the first robot to move to the second operation table, and controlling the first robot to place the first material box and the third material box matched with the second order on the second operation table.

After the first robot takes the third bin, the bin loaded by the first robot can meet the order requirement of the second order, the warehousing management system controls the first robot to move to the second operation table and controls the first robot to place the first bin and the third bin matched with the second order on the second operation table, the required bins of the second order can be completely transported to the second operation table through one-time transport task of the first robot, other robots do not need to be scheduled to execute the bin taking task of the third bin of the second order, the utilization rate of the first robot is improved, meanwhile, the processing efficiency of the second order is improved, and therefore the overall efficiency and performance of the intelligent warehousing system are improved.

Fig. 5 is a flowchart of a robot scheduling method according to a fifth embodiment of the present application. On the basis of the first embodiment or the second embodiment, this embodiment provides another example of the robot scheduling method, and the warehousing management system can strictly manage the sequence of entering the robot into the operation console and the order of picking and placing the goods on the operation console, that is, the warehousing management system can completely control the real-time status of all the bins, so as to implement the operation process of the bin robot across the operation consoles.

As shown in fig. 5, the method comprises the following specific steps:

step S501, the orders are distributed to a plurality of operation platforms.

This step is consistent with the implementation of step S201, and is not described herein again.

And step S502, determining an idle first robot.

This step is consistent with the implementation of step S202, and is not described herein again.

Step S503, generating an operation platform crossing task for the first robot in the idle state according to the order information of the operation platforms and the real-time state information of all the workbenches in the future time period, wherein the operation platform crossing task comprises a plurality of to-be-processed orders and an initial box taking task, and the to-be-processed orders correspond to the operation platforms.

In this embodiment, the warehousing management system can strictly control the sequence of entering the operation table and the sequence of picking/placing goods on the operation table, that is, the warehousing management system can completely control the real-time status of all the bins.

In the step, the warehousing management system can estimate the articles and the quantity in the material boxes of the robot for taking/putting goods in each operation platform in a future period of time according to the order information of a plurality of operation platforms and the real-time state information of all the material boxes in the future period of time, and generates a cross-platform task on the premise of greatly meeting the order requirements of the operation platforms. The cross-console task comprises a plurality of to-be-processed orders, the to-be-processed orders correspond to the plurality of consoles, the cross-console task comprises an execution sequence of the to-be-processed orders, the to-be-processed orders are executed according to the execution sequence, and the first robot can meet order requirements of all orders in the cross-console task in one carrying task.

The initial box taking task is used for instructing the first robot to take out an initial requirement material box from the shelf, the initial requirement material box at least comprises a requirement material box of a first order in the cross-operating platform task and can also comprise other requirement material boxes, and the initial requirement material box included in the initial box taking task can be determined according to order requirements of all orders in the cross-operating platform task and the real-time state of all the material boxes.

Illustratively, the warehouse management system generates the cross-console task, which can be based on the following principle:

(1) the robot continuously takes/puts boxes between the operation platforms, so that the times of taking/returning the boxes are reduced on the premise of greatly meeting the order requirements of the operation platforms, and the operation propulsion speed of orders of each operation platform is accelerated.

(2) The work of picking can be carried out between the operation panel to workbin/goods continuity, promotes the utilization ratio that workbin/goods were picked.

(3) The robot works between the operation platforms as continuously as possible, and the box returning operation is not carried out until the box/goods are picked up.

(4) The single bin can be continuously utilized by each operation platform, and the optimal effect is that the goods of the bin are sorted to form an empty bin.

In this embodiment, a plurality of to-be-processed orders in the cross-console task form an order chain according to an execution sequence, and the first robot may perform cross-console operation on the plurality of to-be-processed orders in the order chain in sequence, and place a demand bin of each order on a corresponding console.

In an alternative embodiment, this step can be implemented as follows:

step 1, determining a first order of a first operation platform, and according to the first order.

Alternatively, the first order may be determined according to information such as the generation order, the urgency level, and the like of each order.

After the first order is determined, the demand bin of the first order is added to the initial bin taking task.

And 2, determining the article information of the bin loaded by the robot after the robot acquires the requirement bin of the first order and places the requirement bin of the first order on the first operation platform.

And 3, determining a candidate order with the order requirement matched with the bin loaded by the robot according to the article information of the bin loaded by the robot and the order requirement of each operation platform.

And 4, determining candidate orders meeting the real-time cross-console operation conditions according to the evaluation parameter information of the real-time cross-console operation of the candidate orders, taking one of the candidate orders meeting the real-time cross-console operation conditions as a next order of a first order in the cross-console task, and adding the next order to the end of the order chain.

And 4, if the candidate order meeting the real-time cross-console operation condition does not exist according to the evaluation parameter information of the real-time cross-console operation of the candidate order in the step 4, the next order is not selected any more, and the order in the current order chain is used as the cross-console task.

And if the number of the candidate orders meeting the real-time cross-console operation condition is 1 in the step 4, taking the candidate orders meeting the real-time cross-console operation condition as the next order. And if the number of the subsequent orders meeting the real-time cross-operating platform operating conditions is larger than 1, selecting one order from the candidate orders meeting the real-time cross-operating platform operating conditions as the next order according to the evaluation parameter information of the real-time cross-operating platform operation on the candidate orders.

For example, if there are a plurality of candidate orders meeting the real-time cross-console operation condition, one of the orders may be preferentially selected as the next order according to the evaluation parameter information of the real-time cross-console operation performed on the candidate orders; or randomly selecting any order as the next order according to the evaluation parameter information of the real-time cross-console operation of the candidate orders.

In step 4, "determining a candidate order meeting the real-time cross-console operation condition according to the evaluation parameter information of the real-time cross-console operation performed on the candidate order" is similar to the specific implementation manner of step S306, "determining a third order meeting the real-time cross-console operation condition according to the evaluation parameter information of the real-time cross-console operation performed on the third order," in step 4, "selecting an order as a next order from the candidate order meeting the real-time cross-console operation condition" is similar to "selecting an order as a second order from the third order meeting the real-time cross-console operation condition" in step S306, "and the specific implementation manner refers to the related description in step S306, and the description of this embodiment is omitted here.

And 5, taking the order at the end of the order chain as the current order, determining the article information of the bin loaded by the robot after the robot places the required bin of the current order on the corresponding operation platform and takes out the bin which finishes the operation from the corresponding operation platform.

Optionally, after determining the next order in step 4, determining an additional bin to be taken out from the shelf to satisfy the determined next order according to the article information of the bin loaded by the robot, determining whether the number of required bins in the initial bin fetching task exceeds the load threshold of the robot if the additional bin is added to the initial bin fetching task, and adding the additional bin to the initial bin fetching task if the number of required bins in the initial bin fetching task does not exceed the load threshold of the robot. If the number of demand bins in the initial bin picking task exceeds the load threshold of the robot, no additional bins are added to the initial bin picking task.

Accordingly, in step 5, an additional bin is added to the bin loaded by the robot, and then it is determined that the robot has the article information of the bin loaded by the robot after placing the demand bin of the current order to the corresponding station and taking out the bin from the corresponding station where the work is completed.

After step 5, step 3-step 4 are performed, determining the next order in the order chain.

Through steps 1-5, a plurality of pending orders and initial box-taking tasks among the cross-console tasks can be determined.

And step S504, distributing the cross-operating-platform task for the first robot.

And step S505, scheduling the first robot to take out the initial demand bin from the shelf according to the initial bin taking task, wherein the first order is a first order in the plurality of orders to be processed.

After the first robot is assigned the cross-console task, the first robot is scheduled to retrieve initial demand bins from the racks according to the initial bin retrieval task, which may satisfy order requirements of the first order of the first console.

And S506, controlling the first robot to move to the first operation platform, and controlling the first robot to place the requirement bin of the first order on the first operation platform.

After the first robot takes the initial demand bin, the warehouse management system controls the first robot to move to the first station and controls the first robot to place the demand bin of the first order to the first station.

And step S507, controlling the first robot to take the work-finished bin from the first operation table.

In this embodiment, after the first robot places the required bin of the first order on the first console, the warehousing management system controls the first robot to take away the bin that has completed the operation from the first console.

Based on the generation principle of the cross-console task, after the first robot takes the work-completed bin from the first console, the bin loaded by the first robot must meet the order requirement of the next order.

And step S508, acquiring the next target order according to the cross-operating platform task.

And if the unprocessed orders exist in the to-be-processed orders in the cross-operating-platform task, acquiring the next to-be-processed order as a target order.

If all the to-be-processed orders in the cross-console task are processed, the cross-console task is completed, step S511 is executed, and the first robot is controlled to perform box returning operation.

In this embodiment, the next order in the multiple to-be-processed orders is determined as the target order, and the cross-console job processing flow of steps S509 to S510 is performed on the target order.

Step S509, the first robot is scheduled to move to a target operation table corresponding to the target order; and controlling the first robot to place the demand bin of the target order on the target operation table.

And step S510, controlling the first robot to take the work-finished bin from the target operation table.

In this embodiment, after the first robot places the required bin of the target order on the target console, the warehousing management system controls the first robot to take the bin which completes the operation from the target console, so that the bin loaded by the first robot can meet the order requirement of the next order.

After step S510, step S506 is executed to control the first robot to perform a cross-console operation on the next order if there is an unprocessed order in the to-be-processed order in the cross-console task.

And step S511, when the task across the operation platform is completed or at least one bin loaded by the first robot is empty, controlling the first robot to carry out bin returning operation.

According to the method and the device for the cross-operating platform of the intelligent warehousing system, the cross-operating platform task is generated for the first robot in the idle state according to the order information of the operating platforms and the real-time state information of all the workbins in the future time period, the cross-operating platform task comprises a plurality of to-be-processed orders and an initial box taking task, the to-be-processed orders correspond to the operating platforms, cross-operating platform operation is sequentially performed on the to-be-processed orders according to the sequence, the first robot can complete processing of the orders by performing the multi-time cross-operating platform operation after once box taking, the number of times of taking/returning the boxes is reduced, a more flexible and efficient cargo taking and placing strategy is achieved, and the overall efficiency and the performance of the intelligent warehousing system can be improved.

Fig. 6 is a schematic structural diagram of a robot scheduling apparatus according to a sixth embodiment of the present invention. The robot scheduling device provided by the embodiment of the invention can execute the processing flow provided by the method embodiment of robot scheduling. As shown in fig. 6, therobot scheduling apparatus 60 includes: thecross-console job module 601.

Specifically, thecross-console job module 601 is configured to:

and after the first robot places the requirement material box of the first order of the first operation platform on the first operation platform, controlling the first robot to move to the second operation platform, and controlling the first robot to place the requirement material box of the second order of the second operation platform on the second operation platform.

Wherein the demand bin of the second order is a bin that matches the order demand of the second order.

The apparatus provided in the embodiment of the present invention may be specifically configured to execute the method embodiment provided in the first embodiment, and specific functions are not described herein again.

According to the embodiment of the application, after the first robot places the requirement material box of the first order of the first operation table on the first operation table, the first robot is controlled to move to the second operation table, the first robot is controlled to place the requirement material box of the second order of the second operation table on the second operation table, box placing operation of crossing the operation tables can be carried out in the process that the first robot executes a material box carrying task, so that the operation tables can be placed with as many material boxes as possible in the material box carrying task, the times of taking/returning the boxes are reduced, a more flexible and efficient cargo taking and placing strategy is achieved, and the overall efficiency and performance of the intelligent warehousing system can be improved.

Fig. 7 is a schematic structural diagram of a robot scheduling apparatus according to a seventh embodiment of the present invention. On the basis of the sixth embodiment, in an optional implementation manner, thecross-console operation module 601 is further configured to: after the first robot places the demand bin of the first order of the first operation table on the first operation table, the first robot is controlled to take away the bin which finishes the operation from the first operation table before being controlled to move to the second operation table.

In an alternative embodiment, as shown in fig. 7, therobot scheduling apparatus 60 further includes:

a presetcross console module 602 for: allocating a box taking task to the first robot, wherein the box taking task is used for instructing the first robot to take a demand box of a plurality of orders from the shelf, and the plurality of orders at least comprise a first order and a second order; and controlling the first robot to move to the first operation platform, and controlling the first robot to place the demand bin of the first order to the first operation platform.

According to the method and the device for acquiring the order, a box acquiring task is distributed to a first robot, the box acquiring task is used for indicating the first robot to acquire a demand box of a plurality of orders from a goods shelf, and the orders at least comprise a first order and a second order; the method comprises the steps of controlling a first robot to move to a first operation platform, controlling the first robot to place a requirement material box of a first order on the first operation platform, controlling the first robot to move to a second operation platform after the first robot places the requirement material box of the first order on the first operation platform, and controlling the first robot to place the requirement material box of the second order on the second operation platform, so that the first robot takes the requirement material boxes of orders on a plurality of operation platforms through once taking the boxes, and performs box placing operation across the plurality of operation platforms, so that the first robot places as many material boxes as possible on the plurality of operation platforms in one task, the box taking/returning times are reduced, a more flexible and efficient goods taking and placing strategy is realized, and the overall efficiency and performance of the intelligent warehousing system can be improved.

In an alternative embodiment, as shown in fig. 7, therobot scheduling apparatus 60 further includes:

a real-timecross console module 603 for: after the first robot places the requirement material box of the first order of the first operation table on the first operation table, controlling the first robot to move to the second operation table, and controlling the first robot to place the requirement material box of the second order of the second operation table in front of the second operation table, determining a third order of the third operation table according to the articles of the first material box currently loaded by the first robot and the order requirements of the operation tables, wherein the order requirements of the third order are matched with the articles of at least one first material box; one of the third orders is taken as the second order.

Optionally, the real-time cross-console module 603 is further configured to: determining a third order meeting the real-time cross-console operation conditions according to the evaluation parameter information of the real-time cross-console operation of the third order; and taking one order in the third orders which meet the real-time cross-operating-platform operating conditions as a second order.

Optionally, the real-time cross-console module 603 is further configured to: if the number of the third orders meeting the real-time cross-operating platform operating conditions is 1, taking the third orders meeting the real-time cross-operating platform operating conditions as second orders; and if the number of the third orders meeting the real-time cross-operating platform operating conditions is larger than 1, selecting one order from the third orders meeting the real-time cross-operating platform operating conditions as a second order according to the evaluation parameter information of the real-time cross-operating platform operation on the third orders.

Optionally, the real-time cross-console module 603 is further configured to: if the first material box loaded by the first robot currently does not meet the order requirement of the second order, determining a second material box according to the order requirement of the second order and the articles in the first material box, wherein the second material box and the first material box meet the order requirement of the second order; dispatching a second robot to take out a second bin from the shelf; and controlling the second robot to move to the second operation platform, and controlling the second robot to place the second bin on the second operation platform.

According to the embodiment of the application, after the first robot places the requirement bin of the first order of the first operation platform on the first operation platform, the third order is matched for the first robot in real time according to the article of the first bin currently loaded by the first robot, whether the third order meets the real-time cross-operation platform operation condition is evaluated according to the evaluation parameter information of the real-time cross-operation platform operation on the third order, one second order of the second operation platform for the first robot to carry out cross-operation platform operation is selected from the third orders meeting the real-time cross-operation platform operation condition and is used as the second order of the second operation platform for the first robot to carry out cross-operation platform operation, the order of the next operation platform for the first robot to carry out cross-operation platform operation can be matched in real time based on the evaluation result of the profit and the cost of the cross-operation platform operation on the orders of each operation platform, and the efficiency and the performance of the cross-operation platform operation of the robot can be further improved, thereby further improving the overall efficiency and performance of the intelligent warehousing system.

In an alternative embodiment, as shown in fig. 7, therobot scheduling apparatus 60 further includes:

an indirectcross console module 604 for: and if the third order meeting the real-time cross-operating platform operating conditions does not exist, taking one of the third orders as a second order according to the number of the first material boxes matched with the order requirements of the third orders.

Optionally, the indirectcross console module 604 is further configured to: controlling the first robot to return the first material box which is not matched with the order requirement of the second order; controlling the first robot to take out a third material box from the goods shelf, wherein the third material box is a requirement material box of a second order, so that the first material box and the third material box loaded by the first robot currently meet the requirement of the second order; and controlling the first robot to move to the second operation table, and controlling the first robot to place the first material box and the third material box matched with the second order on the second operation table.

Optionally, the indirectcross console module 604 is further configured to: if the third order meeting the real-time cross-operating platform operating conditions does not exist, determining the number of first material boxes matched with the order requirements of the third order, and taking the third order, of which the number is larger than a preset number threshold value, of the first material boxes matched with the order requirements as a fourth order; determining a fourth order meeting the indirect cross-console operation condition according to the evaluation parameter information of the indirect cross-console operation on the fourth order; and taking one order in the fourth orders which meet the indirect cross-operating-platform operation condition as a second order.

In an alternative embodiment, as shown in fig. 7, therobot scheduling apparatus 60 further includes:

anevaluation module 605 for: and determining whether the target order meets the corresponding cross-console operation condition or not according to the evaluation parameter information of the cross-console operation of the type of the target order and the threshold condition corresponding to each evaluation parameter information.

The target order is any one of the third orders, the evaluation parameter information for performing certain type of cross-console operation on the target order is the evaluation parameter information for performing real-time cross-console operation on the target order, and the corresponding cross-console operation condition is a real-time cross-console operation condition; or the target order is any one of the fourth orders, the evaluation parameter information for performing certain type of cross-console operation on the target order is the evaluation parameter information for performing indirect cross-console operation on the target order, and the corresponding cross-console operation condition is an indirect cross-console operation condition.

Optionally, theevaluation module 605 is further configured to: and if each item of evaluation parameter information of the target order meets the corresponding threshold value condition, determining that the target order meets the corresponding cross-operating platform operation condition.

Optionally, theevaluation module 605 is further configured to: and if at least one item of evaluation parameter information of the target order meets the corresponding threshold value condition, determining that the target order meets the corresponding cross-operating platform operation condition.

Optionally, theevaluation module 605 is further configured to: and if at least one item of specific parameter information of the target order meets the corresponding threshold condition, determining that the target order meets the corresponding cross-operating-platform operating condition, wherein the specific parameter information is one or more of the pre-specified evaluation parameter information.

Optionally, theevaluation module 605 is further configured to: according to the evaluation parameter information of the cross-console operation of the type of the target order, determining a score value corresponding to each evaluation parameter information of the target order; and determining whether the target order meets the corresponding cross-operating platform operation condition or not according to the score value corresponding to each item of evaluation parameter information of the target order.

The target order is any one of the third orders, the evaluation parameter information for performing certain type of cross-console operation on the target order is the evaluation parameter information for performing real-time cross-console operation on the target order, and the corresponding cross-console operation condition is a real-time cross-console operation condition; or the target order is any one of the fourth orders, the evaluation parameter information for performing certain type of cross-console operation on the target order is the evaluation parameter information for performing indirect cross-console operation on the target order, and the corresponding cross-console operation condition is an indirect cross-console operation condition.

Optionally, theevaluation module 605 is further configured to: determining a comprehensive score value of the target order according to the score value corresponding to each item of evaluation parameter information of the target order; and determining whether the target order meets the corresponding cross-operating-platform operating conditions or not according to the comprehensive score value of the target order.

Optionally, theevaluation module 605 is further configured to: if the evaluation parameter information of the target order comprises income parameter information, determining an income score value of the target order according to a score value corresponding to each income parameter information of the target order; if the evaluation parameter information of the target order comprises cost parameter information, determining a cost score value of the target order according to a score value corresponding to each item of cost parameter information of the target order; and determining whether the target order meets the corresponding cross-operating platform operating conditions or not according to the income score value and/or the cost score value of the target order.

Optionally, the evaluation parameter information for performing real-time cross-console work on any target order includes: revenue parameter information and/or cost parameter information.

The income parameter information for carrying out real-time cross-console operation on any target order comprises one or more of the following items:

the number of first bins for which the items are matched with the order requirements of the target order, the distance between the first console and the target console corresponding to the target order, the expected waiting time of the first robot at the target console, and the urgency of the target order.

The cost parameter information for performing real-time cross-console operation on any target order comprises one or more of the following items:

waiting for idle time of the target console during the period that the first robot moves to the target console and completes the work of the target order; the time it takes for the first robot to move from the first station to the target station, and the time the first robot waits in line at the target station.

Optionally, the evaluation parameter information of indirect cross-console operation on any target order includes: revenue parameter information and/or cost parameter information.

The income parameter information for indirectly performing cross-console operation on any target order comprises one or more of the following items:

the number of first bins for which the items match the order requirements of the target order; the distance between a first shelf and a first operating platform of a first material box unmatched with the target order, the distance between a second shelf of the first shelf and a fourth material box and the distance between the second shelf and the target operating platform corresponding to the target order, wherein the items of the first material box do not meet the order requirement of the target order, and the items of the fourth material box and the first material box meet the order requirement of the target order; a projected wait time for the first robot at the target console; urgency of the target order.

Cost parameter information for performing indirect cross-console work on any target order includes one or more of the following:

waiting for idle time of the target operation platform when the first robot moves to the target operation platform and finishes the operation of the target order; the time it takes for the first robot to move from the first rack to the second rack and retrieve the fourth bin, the time it takes for the first robot to move from the second rack to the destination console, and the time it takes for the first robot to wait in line at the destination console.

In an alternative embodiment, the second order is an order currently executed by the second console or an order that is ranked after the currently executed order and has not yet started to be executed.

According to the embodiment of the application, after the first robot takes the third bin, the bin loaded by the first robot can meet the order requirement of the second order, the warehousing management system controls the first robot to move to the second operation table and controls the first robot to place the first bin and the third bin matched with the second order on the second operation table, all the required bins of the second order can be carried to the second operation table through one-time carrying task of the first robot, other robots do not need to be scheduled to execute the bin taking task of the third bin of the second order, the utilization rate of the first robot is improved, meanwhile, the processing efficiency of the second order is improved, and therefore the overall efficiency and performance of the intelligent warehousing system are improved.

In an alternative embodiment, as shown in fig. 7, therobot scheduling apparatus 60 further includes:

across-console module 606 under a given scenario for:

generating an operation platform crossing task for the first robot in an idle state according to order information of a plurality of operation platforms and real-time state information of all material boxes in a future time period, wherein the operation platform crossing task comprises a plurality of to-be-processed orders and an initial box taking task, and the plurality of to-be-processed orders correspond to the plurality of operation platforms; and scheduling the first robot to take the first order of the initial demand bin from the goods shelf as the first order in the plurality of orders to be processed according to the initial bin taking task.

Thecross-console module 606 under the specified scenario is further configured to: after the first robot is controlled to take the work-finished material box from the first operation platform, according to the cross-operation platform task, the next order in the multiple orders to be processed is determined as a target order in sequence, and the following cross-operation platform work processing is carried out on the target order: scheduling the first robot to move to a target operation platform corresponding to the target order; controlling a first robot to place a demand bin of a target order on a target console; and controlling the first robot to take the work-finished bin from the target operation table.

Thecross-console module 606 under the specified scenario is further configured to: and when the cross-operating platform task is completed or at least one bin loaded by the first robot is empty, controlling the first robot to carry out bin returning operation.

According to the method and the device for the cross-operating platform of the intelligent warehousing system, the cross-operating platform task is generated for the first robot in the idle state according to the order information of the operating platforms and the real-time state information of all the workbins in the future time period, the cross-operating platform task comprises a plurality of to-be-processed orders and an initial box taking task, the to-be-processed orders correspond to the operating platforms, cross-operating platform operation is sequentially performed on the to-be-processed orders according to the sequence, the first robot can complete processing of the orders by performing the multi-time cross-operating platform operation after once box taking, the number of times of taking/returning the boxes is reduced, a more flexible and efficient cargo taking and placing strategy is achieved, and the overall efficiency and the performance of the intelligent warehousing system can be improved.

The apparatus provided in the embodiment of the present invention may be specifically configured to execute the method flow provided in any one of the above method embodiments, and specific functions are not described herein again.

Fig. 8 is a schematic structural diagram of a warehouse management system according to an eighth embodiment of the present invention. As shown in fig. 8, thewarehouse management system 100 includes: aprocessor 1001, amemory 1002, and computer programs stored on thememory 1002 and executable on theprocessor 1001. When theprocessor 1001 runs the computer program, the robot scheduling method provided by any one of the above method embodiments is implemented.

According to the embodiment of the application, after the first robot places the requirement material box of the first order of the first operation table on the first operation table, the first robot is controlled to move to the second operation table, the first robot is controlled to place the requirement material box of the second order of the second operation table on the second operation table, box placing operation of crossing the operation tables can be carried out in the process that the first robot executes a material box carrying task, so that the operation tables can be placed with as many material boxes as possible in the material box carrying task, the times of taking/returning the boxes are reduced, a more flexible and efficient cargo taking and placing strategy is achieved, and the overall efficiency and performance of the intelligent warehousing system can be improved.

The embodiment of the invention also provides a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and the computer program is executed by a processor to execute the robot scheduling method provided by any one of the above method embodiments.

An embodiment of the present invention further provides a computer program product, where the program product includes: a computer program stored in a readable storage medium, from which the computer program can be read by at least one processor of the warehousing management system, execution of the computer program by the at least one processor causing the warehousing management system to perform the method for robot scheduling provided by any of the method embodiments described above.

It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.

Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

Claims (42)

1. A method of robot scheduling, comprising:

after the first robot places a demand bin of a first order of a first operation table on the first operation table, the first robot is not instructed to execute a bin returning task for the moment, the first robot is controlled to move to a second operation table, and the first robot is controlled to place a demand bin of a second order of the second operation table on the second operation table;

the requirement bin of the second order is a bin matched with the order requirement of the second order, and the requirement bin of the second order of the second operation platform exists in the bin currently loaded by the first robot.

2. The method of claim 1, wherein after the first robot places the demand bin for the first order for the first station at the first station, the controlling the first robot to move to a second station further comprises:

and controlling the first robot to take the work-finished bin from the first operating platform.

3. The method of claim 1, wherein prior to the first robot placing the demand bin of the first order for the first station to the first station, further comprising:

allocating a box taking task to the first robot, wherein the box taking task is used for instructing the first robot to take a demand box of a plurality of orders from a shelf, and the plurality of orders at least comprise the first order and the second order;

and controlling the first robot to move to the first operation platform, and controlling the first robot to place the demand bin of the first order to the first operation platform.

4. The method of claim 1, wherein after a first robot places a demand bin of a first order for a first station to the first station, the controlling the first robot to move to a second station and controlling the first robot to place a demand bin of a second order for the second station to the second station further comprises:

determining a third order of a third operation table according to the articles of a first material box currently loaded by the first robot and the order requirement of each operation table, wherein the order requirement of the third order is matched with the articles of at least one first material box;

and taking one order in the third orders as the second order.

5. The method of claim 4, wherein said taking one of said third orders as said second order comprises:

determining a third order meeting the real-time cross-console operation conditions according to the evaluation parameter information of the real-time cross-console operation of the third order;

and taking one order in the third orders which meet the real-time cross-operating-platform operating conditions as the second order.

6. The method of claim 5, wherein said placing one of the third orders that meets real-time cross-console job conditions as the second order comprises:

if the number of the third orders meeting the real-time cross-operating platform operating conditions is 1, taking the third orders meeting the real-time cross-operating platform operating conditions as the second orders;

and if the number of the third orders meeting the real-time cross-operating platform operating conditions is larger than 1, selecting one order from the third orders meeting the real-time cross-operating platform operating conditions as the second order according to the evaluation parameter information for carrying out the real-time cross-operating platform operation on the third orders.

7. The method according to any one of claims 1-4, further comprising:

if the first bin currently loaded by the first robot does not meet the order requirement of the second order, determining a second bin according to the order requirement of the second order and the articles in the first bin, wherein the second bin meets the order requirement of the second order;

scheduling a second robot to remove the second bin from the rack;

and controlling the second robot to move to the second operation platform, and controlling the second robot to place the second bin on the second operation platform.

8. The method of claim 5, wherein determining whether a target order meets corresponding cross-console job conditions based on evaluation parameter information for performing a certain type of cross-console job on any target order comprises:

determining whether the target order meets the corresponding cross-console operation condition or not according to the evaluation parameter information of the cross-console operation of the type of the target order and the threshold condition corresponding to each evaluation parameter information;

the target order is any one of the third orders, the evaluation parameter information for performing certain type of cross-console operation on the target order is the evaluation parameter information for performing real-time cross-console operation on the target order, and the corresponding cross-console operation condition is a real-time cross-console operation condition.

9. The method according to claim 8, wherein the determining whether the target order meets the corresponding cross-console operation condition according to the evaluation parameter information of the cross-console operation of the type of the target order and the threshold condition corresponding to each evaluation parameter information comprises:

and if each item of the evaluation parameter information of the target order meets the corresponding threshold value condition, determining that the target order meets the corresponding cross-operating platform operation condition.

10. The method according to claim 8, wherein the determining whether the target order meets the corresponding cross-console operation condition according to the evaluation parameter information of the cross-console operation of the type of the target order and the threshold condition corresponding to each evaluation parameter information comprises:

and if at least one item of the evaluation parameter information of the target order meets the corresponding threshold value condition, determining that the target order meets the corresponding cross-operating platform operation condition.

11. The method according to claim 8, wherein the determining whether the target order meets the corresponding cross-console operation condition according to the evaluation parameter information of the cross-console operation of the type of the target order and the threshold condition corresponding to each evaluation parameter information comprises:

and if at least one item of specific parameter information of the target order meets a corresponding threshold condition, determining that the target order meets a corresponding cross-operating-platform operating condition, wherein the specific parameter information is one or more items of pre-specified evaluation parameter information.

12. The method of claim 5, wherein determining whether a target order meets corresponding cross-console job conditions based on evaluation parameter information for performing a certain type of cross-console job on any target order comprises:

according to evaluation parameter information of the cross-console operation of the type of the target order, determining a score value corresponding to each evaluation parameter information of the target order;

determining whether the target order meets the corresponding cross-operating platform operating conditions or not according to the score value corresponding to each item of evaluation parameter information of the target order;

the target order is any one of the third orders, the evaluation parameter information for performing certain type of cross-console operation on the target order is the evaluation parameter information for performing real-time cross-console operation on the target order, and the corresponding cross-console operation condition is a real-time cross-console operation condition.

13. The method of claim 12, wherein determining whether the target order meets the corresponding cross-console operating condition according to the score value corresponding to each item of the evaluation parameter information of the target order comprises:

determining a comprehensive score value of the target order according to a score value corresponding to each item of evaluation parameter information of the target order;

and determining whether the target order meets the corresponding cross-operating platform operating conditions or not according to the comprehensive score value of the target order.

14. The method of claim 12, wherein determining whether the target order meets the corresponding cross-console operating condition according to the score value corresponding to each item of the evaluation parameter information of the target order comprises:

if the evaluation parameter information of the target order comprises income parameter information, determining an income score value of the target order according to a score value corresponding to each income parameter information of the target order;

if the evaluation parameter information of the target order comprises cost parameter information, determining a cost score value of the target order according to a score value corresponding to each item of cost parameter information of the target order;

and determining whether the target order meets the corresponding cross-operating-platform operation condition or not according to the income score value and/or the cost score value of the target order.

15. The method of claim 5, wherein performing real-time cross-console work assessment parameter information on any target order comprises: revenue parameter information and/or cost parameter information;

wherein the revenue parameter information includes one or more of:

a quantity of first bins for which items match the order requirements of the target order,

the distance between the first operating platform and a target operating platform corresponding to the target order,

an expected wait time of the first robot at the target station,

urgency of the target order;

the cost parameter information includes one or more of:

waiting for idle time of the target console during movement of the first robot to the target console and completion of the job of the target order;

the time it takes for the first robot to move from the first station to the target station, and the time the first robot waits in line at the target station.

16. The method of claim 1, wherein the second order is an order currently executed by the second console or an order ranked after the currently executed order that has not yet begun execution.

17. The method of claim 2, wherein prior to the first robot placing the demand bin of the first order for the first station to the first station, further comprising:

generating an operation platform crossing task for the first robot in an idle state according to order information of a plurality of operation platforms and real-time state information of all material boxes in a future period, wherein the operation platform crossing task comprises a plurality of to-be-processed orders and an initial box taking task, and the to-be-processed orders correspond to the operation platforms;

and scheduling the first robot to take out an initial demand bin from a shelf according to the initial bin taking task, wherein the first order is a first order in the plurality of orders to be processed.

18. The method of claim 17, wherein after controlling the first robot to remove work-completed bins from the first station, further comprising:

according to the cross-console task, sequentially determining a next order in the plurality of orders to be processed as a target order, and performing the following cross-console operation processing on the target order:

scheduling the first robot to move to a target operation platform corresponding to the target order;

controlling the first robot to place a demand bin of the target order on the target console;

and controlling the first robot to take the work-finished bin from the target operation table.

19. The method of claim 18, further comprising:

and when the cross-operating platform task is completed or at least one bin loaded by the first robot is empty, controlling the first robot to carry out bin returning operation.

20. A method of robot scheduling, comprising:

after the first robot places a requirement material box of a first order of a first operation table on the first operation table, controlling the first robot to return the first material box which is not matched with the order requirement of a second order;

controlling the first robot to take out a third material box from the shelf, wherein the third material box is a requirement material box of the second order;

and controlling the first robot to move to a second operation platform, and controlling the first robot and placing a first material box and a third material box matched with the second order on the second operation platform.

21. The method of claim 20, wherein after the first robot places the demand bin of the first order for the first station at the first station, before said controlling the first robot to return the first bin that does not match the order demand for the second order, further comprises:

and controlling the first robot to take the work-finished bin from the first operating platform.

22. The method of claim 20, wherein prior to the first robot placing the demand bin for the first order for the first station to the first station, further comprising:

allocating a box taking task to the first robot, wherein the box taking task is used for instructing the first robot to take a demand box of a plurality of orders from a shelf, and the plurality of orders at least comprise the first order;

and controlling the first robot to move to the first operation platform, and controlling the first robot to place the demand bin of the first order to the first operation platform.

23. The method of claim 20, wherein after the first robot places the demand bin of the first order for the first station at the first station, before said controlling the first robot to return the first bin that does not match the order demand for the second order, further comprises:

determining a third order of a third operation table according to the articles of a first material box currently loaded by the first robot and the order requirement of each operation table, wherein the order requirement of the third order is matched with the articles of at least one first material box;

and taking one order in the third orders as the second order.

24. The method of any one of claims 20-23, further comprising:

if the first bin currently loaded by the first robot does not meet the order requirement of the second order, determining a second bin according to the order requirement of the second order and the articles in the first bin, wherein the second bin meets the order requirement of the second order;

scheduling a second robot to remove the second bin from the rack;

and controlling the second robot to move to the second operation platform, and controlling the second robot to place the second bin on the second operation platform.

25. The method of claim 23, wherein taking one of the third orders as the second order according to the estimated parameter information for performing real-time cross-console work on the third orders comprises:

and if the third order meeting the real-time cross-operating-platform operating conditions does not exist, taking one of the third orders as the second order according to the number of the first material boxes matched with the order requirements of the third orders.

26. The method of claim 25, wherein if there is no third order meeting the real-time cross-console operating conditions, then taking one of the third orders as the second order according to the number of first bins matching the order requirements of the third order comprises:

if the third order meeting the real-time cross-operating platform operation condition does not exist, determining the number of first material boxes matched with the order requirement of the third order, and taking the third order, of which the number of the first material boxes matched with the order requirement is larger than a preset number threshold value, as a fourth order;

determining a fourth order meeting the indirect cross-console operation condition according to the evaluation parameter information of the indirect cross-console operation on the fourth order;

and taking one order in the fourth orders which meet the indirect cross-operating-platform operation condition as the second order.

27. The method of claim 26, wherein determining whether a target order meets corresponding cross-console job conditions based on evaluation parameter information for a type of cross-console job performed on any target order comprises:

the target order is any one of the fourth orders, the evaluation parameter information for performing certain type of cross-console operation on the target order is the evaluation parameter information for performing indirect cross-console operation on the target order, and the corresponding cross-console operation condition is an indirect cross-console operation condition.

28. The method according to claim 27, wherein determining whether the target order meets the corresponding cross-console operation condition according to the evaluation parameter information of the cross-console operation of the type of the target order and the threshold condition corresponding to each evaluation parameter information comprises:

and if each item of the evaluation parameter information of the target order meets the corresponding threshold value condition, determining that the target order meets the corresponding cross-operating platform operation condition.

29. The method according to claim 27, wherein determining whether the target order meets the corresponding cross-console operation condition according to the evaluation parameter information of the cross-console operation of the type of the target order and the threshold condition corresponding to each evaluation parameter information comprises:

and if at least one item of the evaluation parameter information of the target order meets the corresponding threshold value condition, determining that the target order meets the corresponding cross-operating platform operation condition.

30. The method according to claim 27, wherein determining whether the target order meets the corresponding cross-console operation condition according to the evaluation parameter information of the cross-console operation of the type of the target order and the threshold condition corresponding to each evaluation parameter information comprises:

and if at least one item of specific parameter information of the target order meets a corresponding threshold condition, determining that the target order meets a corresponding cross-operating-platform operating condition, wherein the specific parameter information is one or more items of pre-specified evaluation parameter information.

31. The method of claim 30, wherein determining whether a target order meets corresponding cross-console job conditions based on evaluation parameter information for performing a certain type of cross-console job on any target order comprises:

the target order is any one of the fourth orders, the evaluation parameter information for performing certain type of cross-console operation on the target order is the evaluation parameter information for performing indirect cross-console operation on the target order, and the corresponding cross-console operation condition is an indirect cross-console operation condition.

32. The method of claim 30, wherein said determining whether the target order meets the corresponding cross-console operating condition according to the score value corresponding to each item of the evaluation parameter information of the target order comprises:

determining a comprehensive score value of the target order according to a score value corresponding to each item of evaluation parameter information of the target order;

and determining whether the target order meets the corresponding cross-operating platform operating conditions or not according to the comprehensive score value of the target order.

33. The method of claim 30, wherein said determining whether the target order meets the corresponding cross-console operating condition according to the score value corresponding to each item of the evaluation parameter information of the target order comprises:

if the evaluation parameter information of the target order comprises income parameter information, determining an income score value of the target order according to a score value corresponding to each income parameter information of the target order;

if the evaluation parameter information of the target order comprises cost parameter information, determining a cost score value of the target order according to a score value corresponding to each item of cost parameter information of the target order;

and determining whether the target order meets the corresponding cross-operating-platform operation condition or not according to the income score value and/or the cost score value of the target order.

34. The method of claim 26, wherein performing evaluation parameter information indirectly across operator station work on any target order comprises: revenue parameter information and/or cost parameter information;

wherein the revenue parameter information includes one or more of:

the number of first bins for which the items match the order requirements of the target order;

the distance between a first shelf and the first operating platform of a first material box unmatched with the target order, the distance between a second shelf of the first shelf and a fourth material box and the distance between the second shelf and the target operating platform corresponding to the target order, wherein the items of the first material box do not meet the order requirement of the target order, and the items of the fourth material box and the first material box meet the order requirement of the target order;

a projected wait time for the first robot at the target station;

urgency of the target order;

the cost parameter information comprises one or more of the following items:

waiting for idle time of the target console during the first robot moving to the target console and completing the job of the target order;

the time taken for the first robot to move from the first rack to the second rack and retrieve the fourth bin, the time taken for the first robot to move from the second rack to the destination console, and the time the first robot waits in line at the destination console.

35. The method of claim 20, wherein the second order is an order currently executed by the second console or an order ranked after the currently executed order that has not yet begun execution.

36. The method of claim 21, wherein prior to the first robot placing the demand bin for the first order for the first station to the first station, further comprising:

generating an operation platform crossing task for the first robot in an idle state according to order information of a plurality of operation platforms and real-time state information of all material boxes in a future period, wherein the operation platform crossing task comprises a plurality of to-be-processed orders and an initial box taking task, and the to-be-processed orders correspond to the operation platforms;

and scheduling the first robot to take out an initial demand bin from a shelf according to the initial bin taking task, wherein the first order is a first order in the plurality of orders to be processed.

37. The method of claim 36, wherein after controlling the first robot to remove work-completed bins from the first station, further comprising:

according to the cross-console task, sequentially determining a next order in the plurality of orders to be processed as a target order, and performing the following cross-console operation processing on the target order:

scheduling the first robot to move to a target operation platform corresponding to the target order;

controlling the first robot to place a demand bin of the target order on the target console;

and controlling the first robot to take the work-finished bin from the target operation table.

38. An apparatus for robot scheduling, comprising:

the cross-console operation module is used for temporarily not instructing the first robot to execute a box returning task after the first robot places a requirement material box of a first order of the first console on the first console, controlling the first robot to move to a second console, and controlling the first robot to place a requirement material box of a second order of the second console on the second console;

the requirement bin of the second order is a bin matched with the order requirement of the second order, and the requirement bin of the second order of the second operation platform exists in the bin currently loaded by the first robot.

39. An apparatus for robot scheduling, comprising:

the cross-operating-table operation module is used for controlling the first robot to return a first material box which is not matched with the order requirement of the second order after the first robot places the requirement material box of the first order of the first operating table on the first operating table;

controlling the first robot to take out a third material box from the shelf, wherein the third material box is a requirement material box of the second order, so that the first material box and the third material box which are currently loaded by the first robot meet the requirement of the second order;

and controlling the first robot to move to a second operation platform, and controlling the first robot to place a first material box and a third material box matched with the second order on the second operation platform.

40. A warehouse management system, comprising:

a processor, a memory, and a computer program stored on the memory and executable on the processor;

wherein the processor, when executing the computer program, implements the method of any of claims 1-19 or 20-37.

41. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-19 or 20-37.

42. A computer program product, comprising a computer program which, when executed by a processor, implements the method of any one of claims 1-19 or 20-37.

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